Index: firmware/App/Controllers/DrainPump.c
===================================================================
diff -u -rb63e03ba8b2568afbbd314e9ba6c59c16db29f42 -r1a5efe97f5f39594b45797fded52cafce92afe80
--- firmware/App/Controllers/DrainPump.c	(.../DrainPump.c)	(revision b63e03ba8b2568afbbd314e9ba6c59c16db29f42)
+++ firmware/App/Controllers/DrainPump.c	(.../DrainPump.c)	(revision 1a5efe97f5f39594b45797fded52cafce92afe80)
@@ -116,6 +116,10 @@
 static BOOL hasClosedLoopBeenRequested = FALSE;                                                                 ///< Closed loop pump control flag.
 static U32 currentDrainPumpRPM = 0;                                                                             ///< Current drain pump RPM from feedback.
 
+static DRAIN_PUMP_STATE_T pendingDrainPumpCmd = DRAIN_PUMP_OFF_STATE;                                           ///< Delayed (pending) drain pump command.
+static F32 pendingDrainPumpCmdTarget = 0.0;                                                                     ///< Delayed (pending) drain pump command target (rpm or PSI depending on command).
+static U32 pendingDrainPumpCmdCountDown = 0;                                                                    ///< Delayed (pending) drain pump command count down timer (in task intervals).
+
 /* TODO These variables are used for POST. POST will be implemented later
 static DRAIN_PUMP_SELF_TEST_STATE_T drainPumpSelfTestState = DRAIN_PUMP_SELF_TEST_STATE_START;                  ///< Current drain pump self test state.
 static U32 drainPumpSelfTestTimerCount = 0;                                                                     ///< Timer counter for drain pump self test.
@@ -194,8 +198,38 @@
 
 /*********************************************************************//**
  * @brief
- * The setDrainPumpTargetOutletPressure function sets the target drain pump
- * outlet pressure.
+ * The setDrainPumpTargetRPMDelayed function sets a new target RPM for the
+ * drain pump with delayed start.
+ * @details Inputs: drainPumpDAC, targetDrainPumpSpeed, drainPumpControlMode,
+ * drainPumpControlModeSet
+ * @details Outputs: pendingDrainPumpCmd, pendingDrainPumpCmdTarget, pendingDrainPumpCmdCountDown
+ * @param rpm new drain pump target RPM
+ * @param delayMs delay duration (in ms) before drain pump started
+ * @return TRUE if new target RPM is set, FALSE if not
+ *************************************************************************/
+BOOL setDrainPumpTargetRPMDelayed( U32 rpm, U32 delayMs )
+{
+    BOOL result = FALSE;
+
+    if ( ( 0 == rpm ) || ( ( rpm >= MIN_DRAIN_PUMP_RPM ) && ( rpm <= MAX_DRAIN_PUMP_RPM ) ) )
+    {
+        pendingDrainPumpCmd = DRAIN_PUMP_OPEN_LOOP_STATE;
+        pendingDrainPumpCmdTarget = (F32)rpm;
+        pendingDrainPumpCmdCountDown = delayMs / TASK_GENERAL_INTERVAL;
+        result = TRUE;
+    }
+    else
+    {
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_DRAIN_PUMP_INVALID_RPM_SELECTED, rpm )
+    }
+
+    return result;
+}
+
+/*********************************************************************//**
+ * @brief
+ * The setDrainPumpTargetOutletPressure function sets the drain pump to start
+ * with given target PDr pressure.
  * @details Inputs: targetDrainPumpDeltaPressure, hasClosedLoopBeenRequested,
  * drainPumpDAC, drainPumpControlMode, drainPumpControlModeSet
  * @details Outputs: targetDrainPumpDeltaPressure, hasClosedLoopBeenRequested,
@@ -228,6 +262,38 @@
 
 /*********************************************************************//**
  * @brief
+ * The setDrainPumpTargetOutletPressureDelayed function sets the drain pump
+ * to start with given target PDr pressure after given delay.
+ * @details Inputs: targetDrainPumpDeltaPressure, hasClosedLoopBeenRequested,
+ * drainPumpDAC, drainPumpControlMode, drainPumpControlModeSet
+ * @details Outputs: targetDrainPumpDeltaPressure, hasClosedLoopBeenRequested,
+ * drainPumpDAC, drainPumpControlMode, drainPumpControlModeSet
+ * @param pressure new target drain pump outlet pressure
+ * @param delayMS delay duration (in ms) before drain pump started
+ * @return TRUE if new target speed is set, FALSE if not
+ *************************************************************************/
+BOOL setDrainPumpTargetOutletPressureDelayed( F32 pressure, U32 delayMs )
+{
+    BOOL result = FALSE;
+
+    // Check the delta pressure is in range
+    if ( ( pressure >= MIN_ALLOWED_TARGET_OUTLET_PRESSURE ) && ( pressure <= MAX_ALLOWED_TARGET_OUTLET_PRESSURE ) )
+    {
+        pendingDrainPumpCmd = DRAIN_PUMP_CONTROL_TO_TARGET_STATE;
+        pendingDrainPumpCmdTarget = pressure;
+        pendingDrainPumpCmdCountDown = delayMs / TASK_GENERAL_INTERVAL;
+        result = TRUE;
+    }
+    else
+    {
+        SET_ALARM_WITH_2_F32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_DRAIN_PUMP_INVALID_DELTA_PRESSURE_SELECTED, pressure )
+    }
+
+    return result;
+}
+
+/*********************************************************************//**
+ * @brief
  * The signalDrainPumpHardStop function stops the Drain pump immediately.
  * @details Inputs: targetDrainPumpSpeed, drainPumpState, drainPumpControlMode,
  * hasClosedLoopBeenRequested, drainControlTimerCounter
@@ -318,6 +384,33 @@
  *************************************************************************/
 void execDrainPumpController( void )
 {
+    // Handle pending drain pump command
+    if ( pendingDrainPumpCmdCountDown > 0 )
+    {
+        pendingDrainPumpCmdCountDown--;
+        if ( 0 == pendingDrainPumpCmdCountDown )
+        {
+            if ( DRAIN_PUMP_CONTROL_TO_TARGET_STATE == pendingDrainPumpCmd )
+            {
+                targetDrainPumpOutletPressure = pendingDrainPumpCmdTarget;
+                hasClosedLoopBeenRequested    = TRUE;
+                drainPumpDAC                  = DRAIN_PUMP_MIN_DAC;
+                drainPumpControlMode          = PUMP_CONTROL_MODE_CLOSED_LOOP;
+                drainPumpControlModeSet       = drainPumpControlMode;
+            }
+            else if ( DRAIN_PUMP_OPEN_LOOP_STATE == pendingDrainPumpCmd )
+            {
+                drainPumpDAC = (U32)(pendingDrainPumpCmdTarget * DRP_SPEED_RPM_TO_ADC_FACTOR + FLOAT_TO_INT_ROUNDUP_OFFSET);
+                targetDrainPumpRPM      = (U32)pendingDrainPumpCmdTarget;
+                drainPumpControlMode    = PUMP_CONTROL_MODE_OPEN_LOOP;
+                drainPumpControlModeSet = drainPumpControlMode;
+            }
+            pendingDrainPumpCmdTarget = 0.0;
+            pendingDrainPumpCmd = DRAIN_PUMP_OFF_STATE;
+        }
+    }
+
+    // Execute drain pump state machine
     switch ( drainPumpState )
     {
         case DRAIN_PUMP_OFF_STATE:
@@ -385,6 +478,18 @@
 
 /*********************************************************************//**
  * @brief
+ * The isDrainPumpOn function determines whether the drain pump is on.
+ * @details Inputs: drainPumpDACSet
+ * @details Outputs: none
+ * @return TRUE if drain pump is on, FALSE if not.
+ *************************************************************************/
+BOOL isDrainPumpOn( void )
+{
+    return ( drainPumpDACSet > 0 ? TRUE : FALSE );
+}
+
+/*********************************************************************//**
+ * @brief
  * The handleDrainPumpOffState function handles the drain pump off state of
  * the drain pump controller state machine.
  * @details Inputs: drainPumpControlModeSet, drainPumpDACSet, drainPumpDAC
@@ -398,7 +503,7 @@
 
     // If the target drain pump speed was not 0 and the control mode
     // is open loop, set the drain pump to open loop
-    if ( getTargetDrainPumpRPM() > 0 && drainPumpControlModeSet == PUMP_CONTROL_MODE_OPEN_LOOP )
+    if ( ( getTargetDrainPumpRPM() > 0 ) && ( drainPumpControlModeSet == PUMP_CONTROL_MODE_OPEN_LOOP ) )
     {
         // Set drain pump enable pin
         SET_DRAIN_PUMP_ENABLE();
@@ -411,7 +516,7 @@
     }
     // If the drain pump is set to closed loop, call the proper state
     // It is checked for the value of delta pressure because it can be anything including 0
-    else if ( drainPumpControlModeSet == PUMP_CONTROL_MODE_CLOSED_LOOP && hasClosedLoopBeenRequested )
+    else if ( ( drainPumpControlModeSet == PUMP_CONTROL_MODE_CLOSED_LOOP ) && ( hasClosedLoopBeenRequested ) )
     {
        // set drain pump enable pin
        SET_DRAIN_PUMP_ENABLE();